version: 66.06
glider: 143
mission: 10
dive: 174
start: 11 21 109 11 57 29
data:
$ID,143
$MISSION,10
$DIVE,174
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,578.41736
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33011.457
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,113007,6702.083,-5701.462,26,1.1,26,-37.6
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-58.2
$GPS2,115709,6702.093,-5701.315,37,2.0,44,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,301.6,25056,-16.9,-9.167
$D_GRID,688
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,192,0.00,0.00,-172.95,0.000,2,0.000,0.000,126,2464,3363,0,0,0,0,0,0
$GC,195,-0.73,-146.0,3.5,-6.2,33,213,11.12,2.60,-0.80,0.000,4,0.298,0.100,2437,3914,3399,0,0,0,0,0,0
$GC,449,-0.73,-146.0,49.7,-16.1,78,455,0.00,2.42,0.00,0.000,6,0.000,0.064,2437,2457,3401,0,0,0,0,0,0
$GC,792,-0.73,-146.0,95.0,-12.7,139,798,0.00,2.53,0.00,0.000,4,0.000,0.091,2437,3906,3400,0,0,0,0,0,0
$GC,854,-0.73,-146.0,102.5,-12.0,148,860,0.00,2.40,0.00,0.000,6,0.000,0.065,2437,2461,3401,0,0,0,0,0,0
$GC,1181,-0.73,-146.0,137.9,-10.7,179,1186,0.00,2.53,0.00,0.000,4,0.000,0.091,2437,3912,3400,0,0,0,0,0,0
$GC,1270,-0.73,-146.0,148.0,-10.7,186,1276,0.00,2.40,0.00,0.000,6,0.000,0.065,2437,2466,3400,0,0,0,0,0,0
$GC,1595,-0.73,-146.0,181.5,-9.5,217,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2467,3401,0,0,0,0,0,0
$GC,1915,-0.73,-146.0,211.7,-10.1,247,1919,0.00,2.50,0.00,0.000,4,0.000,0.090,2437,3911,3401,0,0,0,0,0,0
$GC,1987,-0.73,-146.0,219.3,-9.4,253,1991,0.00,2.38,0.00,0.000,6,0.000,0.064,2437,2473,3401,0,0,0,0,0,0
$GC,2311,-0.73,-146.0,247.9,-9.0,283,2315,0.00,2.47,0.00,0.000,4,0.000,0.089,2437,3908,3402,0,0,0,0,0,0
$GC,2360,-0.73,-146.0,252.4,-9.7,287,2365,0.00,2.35,0.00,0.000,6,0.000,0.062,2437,2479,3402,0,0,0,0,0,0
$GC,2684,-0.73,-146.0,282.8,-9.3,317,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2480,3403,0,0,0,0,0,0
$GC,3004,-0.73,-146.0,310.3,-8.4,347,3008,0.00,2.45,0.00,0.000,4,0.000,0.087,2437,3908,3403,0,0,0,0,0,0
$GC,3059,-0.73,-146.0,315.4,-9.3,351,3066,0.00,2.33,0.00,0.000,6,0.000,0.061,2437,2486,3403,0,0,0,0,0,0
$GC,3384,-0.73,-146.0,344.8,-9.4,382,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2487,3404,0,0,0,0,0,0
$GC,3704,-0.73,-146.0,375.7,-9.8,412,3708,0.00,2.45,0.00,0.000,4,0.000,0.084,2437,3920,3405,0,0,0,0,0,0
$GC,3766,-0.73,-146.0,382.1,-9.8,417,3770,0.00,2.33,0.00,0.000,6,0.000,0.060,2438,2498,3405,0,0,0,0,0,0
$GC,4089,-0.73,-146.0,413.1,-9.7,447,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2498,3405,0,0,0,0,0,0
$GC,4409,-0.73,-146.0,443.4,-9.2,477,4413,0.00,2.42,0.00,0.000,4,0.000,0.086,2437,3916,3406,0,0,0,0,0,0
$GC,4476,-0.73,-146.0,449.5,-9.2,482,4482,0.00,2.30,0.00,0.000,6,0.000,0.059,2437,2502,3406,0,0,0,0,0,0
$GC,4802,-0.73,-146.0,477.5,-8.3,513,4806,0.00,2.42,0.00,0.000,4,0.000,0.085,2437,3920,3406,0,0,0,0,0,0
$GC,4836,-0.73,-146.0,480.4,-8.7,515,4842,0.00,2.30,0.00,0.000,6,0.000,0.059,2437,2514,3406,0,0,0,0,0,0
$GC,5160,-0.73,-146.0,507.5,-8.4,546,5164,0.00,2.40,0.00,0.000,4,0.000,0.085,2437,3908,3406,0,0,0,0,0,0
$GC,5206,-0.73,-146.0,511.4,-8.5,550,5210,0.00,2.28,0.00,0.000,6,0.000,0.059,2437,2516,3406,0,0,0,0,0,0
$GC,5530,-0.73,-146.0,539.0,-8.8,580,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2517,3406,0,0,0,0,0,0
$GC,5850,-0.73,-146.0,567.4,-9.1,610,5854,0.00,2.40,0.00,0.000,4,0.000,0.085,2437,3920,3406,0,0,0,0,0,0
$GC,5878,-0.73,-146.0,570.2,-9.6,612,5882,0.00,2.28,0.00,0.000,6,0.000,0.059,2438,2521,3406,0,0,0,0,0,0
$GC,6202,-0.73,-146.0,599.0,-9.0,642,6206,0.00,2.38,0.00,0.000,4,0.000,0.086,2437,3909,3406,0,0,0,0,0,0
$GC,6235,-0.73,-146.0,602.0,-8.8,645,6239,0.00,2.25,0.00,0.000,6,0.000,0.060,2437,2528,3406,0,0,0,0,0,0
$GC,6575,-0.73,-146.0,630.5,-8.4,656,6579,0.00,2.38,0.00,0.000,4,0.000,0.086,2437,3914,3406,0,0,0,0,0,0
$GC,6624,-0.73,-146.0,634.7,-8.4,657,6628,0.00,2.25,0.00,0.000,6,0.000,0.060,2437,2533,3406,0,0,0,0,0,0
$GC,6936,-0.73,-146.0,660.3,-8.2,667,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2534,3406,0,0,0,0,0,0
$GC,7242,-0.73,-146.0,685.0,-8.3,677,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2534,3406,0,0,0,0,0,0
$STATE,7302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7302,begin apogee
$GC,7308,-0.16,0.0,690.0,8.2,679,7432,0.70,0.00,121.35,1.197,6,0.183,0.000,2630,1942,2800,0,0,0,0,0,0
$STATE,7433,end apogee,CONTROL_FINISHED_OK
$STATE,7433,begin climb
$GC,7435,0.73,146.0,692.9,0.0,683,7568,0.95,2.78,124.68,1.144,4,0.131,0.085,2926,367,2203,0,0,0,0,0,0
$GC,7578,0.73,146.0,682.8,10.0,687,7583,0.00,2.72,0.00,0.000,6,0.000,0.061,2926,1952,2201,0,0,0,0,0,0
$GC,7896,0.73,146.0,647.7,11.0,698,7901,0.00,2.72,0.00,0.000,4,0.000,0.077,2926,3538,2195,0,0,0,0,0,0
$GC,7935,0.73,146.0,643.1,12.2,699,7939,0.00,2.70,0.00,0.000,6,0.000,0.067,2938,1955,2194,0,0,0,0,0,0
$GC,8259,0.73,146.0,607.1,11.0,710,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1956,2194,0,0,0,0,0,0
$GC,8572,0.73,146.0,570.8,12.2,734,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1956,2193,0,0,0,0,0,0
$GC,8893,0.73,146.0,532.0,12.3,764,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1956,2192,0,0,0,0,0,0
$GC,9210,0.73,146.0,491.8,12.5,794,9215,0.00,2.67,0.00,0.000,4,0.000,0.081,2938,3543,2191,0,0,0,0,0,0
$GC,9243,0.73,146.0,487.4,13.5,796,9249,0.00,2.62,0.00,0.000,6,0.000,0.069,2950,1963,2191,0,0,0,0,0,0
$GC,9567,0.73,146.0,444.9,13.7,827,9572,0.00,2.58,0.00,0.000,4,0.000,0.089,2962,363,2191,0,0,0,0,0,0
$GC,9607,0.73,146.0,439.5,14.7,830,9612,0.15,2.53,0.00,0.000,6,0.196,0.066,2927,1977,2190,0,0,0,0,0,0
$GC,9931,0.73,146.0,397.2,13.5,860,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1977,2191,0,0,0,0,0,0
$GC,10251,0.73,146.0,356.0,12.5,890,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1977,2191,0,0,0,0,0,0
$GC,10571,0.73,146.0,321.0,9.9,920,10572,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1977,2191,0,0,0,0,0,0
$GC,10888,0.73,152.6,291.1,8.9,950,10899,0.00,2.60,4.35,0.682,4,0.000,0.083,2927,3537,2177,0,0,0,0,0,0
$GC,10911,0.73,152.6,288.9,9.4,952,10915,0.00,2.60,0.00,0.000,6,0.000,0.071,2937,1965,2178,0,0,0,0,0,0
$GC,11234,0.73,152.6,257.6,10.0,982,11239,0.00,2.60,0.00,0.000,4,0.000,0.088,2949,357,2178,0,0,0,0,0,0
$GC,11278,0.73,152.6,252.7,11.7,985,11284,0.00,2.53,0.00,0.000,6,0.000,0.066,2949,1975,2178,0,0,0,0,0,0
$GC,11604,0.73,152.6,215.7,11.9,1016,11608,0.00,2.60,0.00,0.000,4,0.000,0.081,2949,3536,2177,0,0,0,0,0,0
$GC,11654,0.73,152.6,209.0,12.8,1020,11659,0.15,2.60,0.00,0.000,6,0.197,0.070,2927,1968,2177,0,0,0,0,0,0
$GC,11979,0.74,154.9,176.2,9.1,1050,11990,0.00,2.62,3.88,0.595,4,0.000,0.088,2937,333,2168,0,0,0,0,0,0
$GC,12061,0.74,154.9,167.7,10.3,1057,12068,0.00,2.55,0.00,0.000,6,0.000,0.066,2937,1973,2168,0,0,0,0,0,0
$GC,12387,0.74,154.9,135.1,9.8,1088,12391,0.00,2.62,0.00,0.000,4,0.000,0.081,2937,3543,2167,0,0,0,0,0,0
$GC,12430,0.74,154.9,130.3,11.6,1091,12437,0.00,2.60,0.00,0.000,6,0.000,0.069,2949,1974,2167,0,0,0,0,0,0
$GC,12757,0.74,154.9,96.9,10.5,1124,12762,0.00,2.58,0.00,0.000,4,0.000,0.087,2960,362,2167,0,0,0,0,0,0
$GC,12829,0.74,154.9,88.8,10.6,1137,12836,0.12,2.50,0.00,0.000,6,0.193,0.066,2932,1973,2167,0,0,0,0,0,0
$GC,13174,0.75,164.3,56.0,8.8,1198,13191,0.00,2.62,9.20,0.733,4,0.000,0.081,2932,3537,2129,0,0,0,0,0,0
$GC,13254,0.76,175.6,48.5,8.7,1212,13270,0.00,2.55,10.75,0.745,6,0.000,0.069,2942,2005,2082,0,0,0,0,0,0
$GC,13609,0.82,224.1,21.6,7.1,1275,13660,0.00,2.70,38.75,0.759,4,0.000,0.080,2942,3537,1884,0,0,0,0,0,0
$GC,13706,0.88,271.7,16.5,7.2,1292,13753,0.00,2.60,38.95,0.736,6,0.000,0.070,2953,2007,1690,0,0,0,0,0,0
$STATE,13830,end climb,SURFACE_DEPTH_REACHED
$STATE,13830,begin surface coast
$FINISH,0.5,1.026544
$STATE,13842,end surface coast,CONTROL_FINISHED_OK
$STATE,13843,begin surface
$SM_CCo,13860,178.00,0.702,0,0,441,578.42
$SM_GC,1.16,0.00,0.00,178.00,0.000,0.000,0.702,126,2459,441,-8.01,-0.03,578.42
$RAFOS_CLK,941
$RAFOS,6,1258807744,12.833333,12.817778,75,61,60,0,0,0,807,203,816,0,0,0
$RAFOS,5,1258807269,12.700000,12.685833,112,60,54,0,0,0,592,156,170,0,0,0
$RAFOS,4,1258806788,12.566667,12.552222,63,54,54,0,0,0,175,119,186,0,0,0
$RAFOS,3,1258806305,12.433333,12.418056,59,58,56,0,0,0,208,221,196,0,0,0
$RAFOS,2,1258805826,12.300000,12.285000,60,56,55,0,0,0,140,190,130,0,0,0
$RAFOS,1,1258805344,12.166667,12.151111,71,61,57,0,0,0,217,206,178,0,0,0
$RAFOS,0,1258804866,12.033333,12.018333,61,58,58,0,0,0,219,177,152,0,0,0
$RAFOS_FIX,6702.538086,-5706.453613,211109,121200,2,94,1.25
$IRIDIUM_FIX,6636.54,-5705.96,150299,111108
$TT8_MAMPS,0.026845
$HUMID,45.66
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,17.60
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.8,19.5
$24V_AH,22.9,40.912
$10V_AH,10.1,20.791
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.550,126.700,351.900,178.000,0.000,143.726,207.623,808.066,1.750,0.000,45.721,2315.180,9054.463,723.501,2128.862,1439.826,0.000,1836.969,0.000,2070.911,2520.000,2.635,0.000
$DEVICE_MAMPS,297.596,99.710,1197.287,701.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,965.814,906.506,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187820
$DATA_FILE_SIZE,50456,1317
$CAP_FILE_SIZE,164715,0
$CFSIZE,260165632,236507136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.6
$CURRENT,0.172,315.5,1
$GPS,211109,155301,6703.001,-5708.246,39,1.5,39,-37.6